Revenue Recognition Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Contract With Customer, Liability [Line Items]
Balance at beginning of period	$ 3,418	$ 4,378	$ 3,672	$ 4,610
Recognized in revenue	(257)	(234)	(511)	(466)
Balance at end of period	$ 3,161	$ 4,144	$ 3,161	$ 4,144